相关论文: Architecture Singularity Distance Computations for…
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…
Recent advancements in soft actuators have enabled soft continuum swimming robots to achieve higher efficiency and more closely mimic the behaviors of real marine animals. However, optimizing the design and control of these soft continuum…
In any spatially discrete model of pedestrian motion which uses a regular lattice as basis, there is the question of how the symmetry between the different directions of motion can be restored as far as possible but with limited…
In Model-Based Design of Cyber-Physical Systems (CPS), it is often desirable to develop several models of varying fidelity. Models of different fidelity levels can enable mathematical analysis of the model, control synthesis, faster…
An autonomous system is presented to solve the problem of in space assembly, which can be used to further the NASA goal of deep space exploration. Of particular interest is the assembly of large truss structures, which requires precise and…
Graph Neural Networks have emerged as the most popular architecture for graph-level learning, including graph classification and regression tasks, which frequently arise in areas such as biochemistry and drug discovery. Achieving good…
Multi-view stereo omnidirectional distance estimation usually needs to build a cost volume with many hypothetical distance candidates. The cost volume building process is often computationally heavy considering the limited resources a…
Analyzing high-dimensional data with manifold learning algorithms often requires searching for the nearest neighbors of all observations. This presents a computational bottleneck in statistical manifold learning when observations of…
Designing mechanically efficient geometry for architectural structures like shells, towers, and bridges, is an expensive iterative process. Existing techniques for solving such inverse problems rely on traditional optimization methods,…
We develop a correspondence between the structure of Turing machines and the structure of singularities of real analytic functions, based on connecting the Ehrhard-Regnier derivative from linear logic with the role of geometry in Watanabe's…
In General Relativity a space-time $M$ is regarded singular if there is an obstacle that prevents an incomplete curve in $M$ to be continued. Usually, such a space-time is completed to form $\bar{M} = M \cup \partial M$ where $\partial M$…
The paper addresses the geometric synthesis of Orthoglide-type mechanism, a family of 3-DOF parallel manipulators for rapid machining applications, which combine advantages of both serial mechanisms and parallel kinematic architectures.…
By enumerating all sequences of length 20, we study the designability of structures in a two-dimensional Hydrophobic-Polar (HP) lattice model in a wide range of inter-monomer interaction parameters. We find that although the histogram of…
The Fr\'echet distance provides a natural and intuitive measure for the popular task of computing the similarity of two (polygonal) curves. While a simple algorithm computes it in near-quadratic time, a strongly subquadratic algorithm…
The graph is one of the most widely used mathematical structures in engineering and science because of its representational power and inherent ability to demonstrate the relationship between objects. The objective of this work is to…
While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
The problem of finding a path between two points while avoiding obstacles is critical in robotic path planning. We focus on the feasibility problem: determining whether such a path exists. We model the robot as a query-specific rectangular…
In physics, two systems that radically differ at short scales can exhibit strikingly similar macroscopic behaviour: they are part of the same long-distance universality class. Here we apply this viewpoint to geometry and initiate a program…
In this paper we describe a novel local algorithm for large statistical swarms using "harmonic attractor dynamics", by means of which a swarm can construct harmonics of the environment. This in turn allows the swarm to approximately…